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Unread 15-02-2015, 13:37
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Ken Streeter Ken Streeter is offline
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FRC #1519 (Mechanical Mayhem)
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Re: Correcting Mecanum Wheels with Encoders (Ether, We Summon You!)

Quote:
Originally Posted by jhersh View Post
When you change modes, you change the units of "set();". That means you need to select a velocity based on your joystick. If you are using it like you should for a typical open-loop robot, then the values you are sending to set() are -1 to 1. This means that when you switch to closed loop you are asking for a velocity of -1 to 1.
Just to add a little bit more to what Joe has said, the "velocity" in the Talon SRX when using speed (velocity) control mode is in counts per 1/10 of a second. See section 17.1 of the Talon SRX Software Reference Manual for a little more info. On our robot, our top speed as measured on the Talon SRX is around 600 units, so we use set() commands which range from -600 to +600.
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